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Plane estimation for contextual awareness

  • US 10,198,643 B1
  • Filed: 12/19/2016
  • Issued: 02/05/2019
  • Est. Priority Date: 08/29/2014
  • Status: Active Grant
First Claim
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1. A method for determining whether a vehicle should respond to stop signs, the method comprising:

  • detecting, by one or more computing devices, an object and a location of the object from an image of the vehicle'"'"'s environment;

    determining, by the one or more computing devices, that the object is a stop sign;

    receiving, by the one or more computing devices, sensor data identifying locations and surfaces of objects within the vehicle'"'"'s environment including the stop sign;

    determining, by the one or more computing devices, that the stop sign is a temporary stop sign by comparing the location to map information for the vehicle'"'"'s environment;

    when the stop sign is determined to be temporary, processing, by the one or more computing devices, a portion of the sensor data with a predetermined volume of space around the location of the stop sign to determine whether a surface of the stop sign extends away from a second surface; and

    determining, by the one or more computing devices, whether the vehicle should respond to the stop sign based on the determination of whether the surface of the stop sign extends away from the second surface.

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